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Implement LPS TDoA 3 #315

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krichardsson opened this issue May 4, 2018 · 3 comments
Closed

Implement LPS TDoA 3 #315

krichardsson opened this issue May 4, 2018 · 3 comments
Milestone
2018.10

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@krichardsson
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TDoA 3 will support random tx times and dynamic number of anchors. The main features that we intend to add with this work is:

  1. Remove the need for a master anchor. This will make the system more robust since anchor 0 will no longer be a single point of failure.
  2. Support more than 8 anchors to be able to cover a larger area
@krichardsson
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Corresponding issue in the anchor firmware is bitcraze/lps-node-firmware#27

@krichardsson
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The TDoA protocol will support 256 anchor ids as well as overlapping anchor systems. Should solve #301

krichardsson added a commit that referenced this issue May 4, 2018
@krichardsson
#315 Refactoring: renamed TDoA files, functions and constants to clea…
03aacab 
…rly indicate that they implements TDoA 2 as a preparation for TDoA 3
krichardsson added a commit that referenced this issue May 4, 2018
@krichardsson
#315 More renaming of tdoa to tdoa2
7451a3d
krichardsson added a commit that referenced this issue May 4, 2018
@krichardsson
#315 Reverted previous commit since it broke communication with the c…
b2e8893 
…lient
krichardsson added a commit that referenced this issue May 8, 2018
@krichardsson
#315 Added TDoA3 protocol on top of TDoA2 algorithms
3a99b6d
krichardsson added a commit that referenced this issue May 10, 2018
@krichardsson
#315 Added dynamic number of anchors in TDoA 3, linear search data model
d08b4c6
krichardsson added a commit that referenced this issue May 11, 2018
@krichardsson
#315 Corrected logging of useful data rate
3aba2d5
krichardsson added a commit that referenced this issue May 15, 2018
@krichardsson
#315 Added support for LPP packets in TDoA 3
5946a49
krichardsson added a commit that referenced this issue May 17, 2018
@krichardsson
#315 Added basic sanity check of clock correction
3f924d9 
Added logging of tdoa data
Increased storage for anchor data
krichardsson added a commit that referenced this issue May 17, 2018
@krichardsson
#315 Only use packets that pass the clock correction sanity check for…
48c84d5 
… positioning
krichardsson added a commit that referenced this issue May 22, 2018
@krichardsson
#315 Corrected pointers
3f7cbc5
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Refactoring. Separated protocol, algorithm and stats into separa…
a504122 
…te modules
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Updated outlier filter
a5dd1d5 
Changed double to float
Removed unused estimated position param
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Simplified the tdoa engine API
37c9d35
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Added sketch of a module-test that exercise the tdoa engine from…
4095cd6 
… pre-recorded data off-line
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Make sure TDoA data can handled the first seconds the system is …
5f099e8 
…running
krichardsson added a commit that referenced this issue May 23, 2018
@krichardsson
#315 Added outlier removal on clock correction
7326432
krichardsson added a commit that referenced this issue May 24, 2018
@krichardsson
#315 Corrected allowed clock drift
18104df 
Worst case is that one anchor is +MAX_CLOCK_DEVIATION_SPEC off while another is -MAX_CLOCK_DEVIATION_SPEC off. Total acceptable diff is thus 2 * MAX_CLOCK_DEVIATION_SPEC
@krichardsson
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Basic TDoA 3 functionality is implemented. We will consider this as a baseline and close this issue. Further improvements/fixes will use separate issues to the changes the changes more clearly.

@krichardsson krichardsson added this to the next-version milestone May 29, 2018
cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this issue Sep 27, 2024
@krichardsson
bitcraze#315, added anchor position estimator wizard, beta.
308184c
cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this issue Sep 27, 2024
@krichardsson
bitcraze#315 General improvements
fe154da 
Clean up and refactoring
Instead of averaging ranges for origin, x-axis and xy-plane points, before iterating for a solution, functions for all ranges are added to the equation system
cafeciaojoe pushed a commit to cafeciaojoe/crazyflie-firmware that referenced this issue Sep 27, 2024
@krichardsson
bitcraze#315 Flake8 corrections
0c5bd22
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